| 基于自适应感知复位算法的移动机器人定位 |
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| 引用本文： | 高庆吉,雷亚莉,胡丹丹,于咏生.基于自适应感知复位算法的移动机器人定位[J].电子学报,2007,35(11):2166-2171. |
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| 作者姓名： | 高庆吉 雷亚莉 胡丹丹 于咏生 |
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| 作者单位： | 1. 中国民航大学机器人研究所,天津 300300;2. 西北电力设计院,陕西西安 710032;3. 天津市智能信号与图象处理重点实验室,天津 300300 |
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| 基金项目： | 中国民航大学人才启动基金 |
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| 摘 要： | 本文在传统粒子滤波的基础上提出了一种基于自适应感知复位定位算法(ASRL:Adaptive Sensor Resetting Localization)的移动机器人定位方法.该方法通过带有权值的样本集描绘机器人的可信度,根据有效的样本数计算需要生成的新样本数,然后从感知分布中采样代替原来的样本.ASRL算法已经在安装有编码器和彩色摄像机两种传感器的实际移动机器人上进行实验,结果表明该算法鲁棒性更好,收敛更快.
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| 关 键 词： | 移动机器人 定位 粒子滤波 自适应感知复位 |
| 文章编号： | 0372-2112（2007）11-2166-06 |
| 收稿时间： | 2006-07-31 |
| 修稿时间： | 2007-06-28 |
A Robot Localization Method Based on Adaptive Sensor Resetting Algorithm |
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| GAO Qing-ji,LEI Ya-li,HU Dan-dan,YU Yong-sheng.A Robot Localization Method Based on Adaptive Sensor Resetting Algorithm[J].Acta Electronica Sinica,2007,35(11):2166-2171. |
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| Authors: | GAO Qing-ji LEI Ya-li HU Dan-dan YU Yong-sheng |
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| Affiliation: | 1. Robotics Research Institute,Civil Aviation University of China,Tianjin 300300,China;2. Northwest electric Power Design Institute,Xi’an,Shannxi 710032,China;3. Tianjin Key Lab for Advanced Signal and Image Processing,Tianjin 300300,China |
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| Abstract: | An adaptive Sensor Resetting Localization(ASRL)algorithm based on traditional Particle Filter is proposed for mobile robot.The belief of robot is represented by a set of weighted samples,new necessary samples are calculated according to ef- fective samples and resampled based on sensor data,and then old samples are replaced with new samples during ASRL algorithm. This algorithm is used on autonomous mobile robot AMR-ITL equipped with encoder and color camera sensor successfully,experi- ment result shows that ASRL is a more robust and quickly convergence algorithm. |
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| Keywords: | mobile robot localization particle filter adaptive sensor resetting localization |
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